Period selection for integrated controller tasks in cyber-physical systems

Performance optimization of cyber-physical systems(CPS)calls for co-design strategies that handle the issues in both computing domain and physical domain.Periods of controller tasks integrated into a uniprocessor system are related to both control performance and real-time schedulability analysis simultaneously.System performance improvement can be achieved by optimizing the periods of controller tasks.This paper extends an existing model to select task periods in real-time for CPS with fixed priority controller tasks scheduled by rate-monotonic algorithm.When all the tasks can be integrated,the analytic solution of the problem is derived by using the method of Lagrange multipliers and gradient descent method is evaluated to be suitable online.To further deal with the condition that the system is overloaded,an integrated method is proposed to select periods of tasks online by selecting a subset of tasks first and then optimizing the periods for them.Experimental results demonstrate that our method yields near-optimal result with a short running time.     

一种大型紧缩场极坐标测试扫描架系统的设计与实现

扫描架系统是现有紧缩场现场校准方法的核心测试设备,扫描架系统的各项技术指标对于紧缩场校准至关重要,其中具有代表性的关键指标是扫描范围和扫描平面度。为提高紧缩场现场计量校准的适应性,本文设计了一种大型模块化扫描架系统,具有自调整机构和多种安装方式,在最大模式下扫描半径可达到3000mm、中心高可达12m、扫描平面度可达0.05mm(RMS);在最紧凑模式下扫描直径为3000mm、中心高可降至4m;可适用于国内多数紧缩场。目前,该系统完成技术指标的检测,可应用于多型紧缩场现场校准测试。     

涡轮泵振动参数与统计特征量的线性相关性分析

为了剔除冗余的振动参数和统计特征量，提高涡轮泵故障检测的实时能力，建立了线性相关性假设检验模型。利用该假设检验模型和某型液体火箭发动机的历史试车数据，检验了7路涡轮泵振动参数以及13种常用统计特征量的线性相关性，并分析了统计特征量对涡轮泵故障的敏感性和稳定性，以及涡轮泵振动数据的正态性。数据统计分析表明，大部分涡轮泵振动参数以及统计特征量显著线性相关，幅值统计特征量的故障敏感性弱，但稳定性强，而无量纲统计特征量的情况恰好相反，并且正常涡轮泵振动数据服从正态分布，而异常涡轮泵振动数据不再服从正态分布。据此，为涡轮泵故障检测选择了线性相关性弱，故障特征反映能力强的3路振动参数和3种统计特征量。     

GNSS实时卫星钟差估计技术进展

不依赖实体基准站增强信息的GNSS实时精密单点定位服务将逐渐成为主流定位模式。实时卫星钟差产品作为实时精密单点定位的关键先决条件之一，其精度直接决定实时精密定位服务的性能。计算实时卫星钟差的GNSS实时卫星钟差估计技术成为实时精密定位的核心技术之一，其主要包括两种解算模式：非差解算模式和差分解算模式。由于对卫星模糊度等未知参数处理策略的不同，卫星钟差估计技术又可细分为非差、历元差分、星间差分、混合差分等策略类型。针对不同实时卫星钟差估计技术的原理方法、算法效率、适用性等问题，综合目前已有相关研究成果的基础上，对GNSS实时卫星钟差估计的研究现状、关键技术和面临的挑战进行了较为系统的总结综述，并对未来卫星钟差预报产品和实时估计产品的关系进行了展望。     

大视场紧凑型仿生复眼成像系统研究

针对视觉导航系统对小型化、超分辨成像和近程立体视觉的需求,研究了一种基于微端面光纤面板的大视场紧凑型仿生复眼成像系统。利用视轴发散的微小型透镜组进行大视场成像,并以切削斜端面的光纤面板进行图像传输,将大面阵(5120×5120像素)CMOS相机与光纤面板后端面直接耦合实现图像输出,可实现9个视场部分重叠子孔径图像同步实时输出和采集。在实时化拼接处理中,利用CUDA并行加速方法进行图像拼接,单帧的拼接耗时小于30ms。视场部分重叠复眼成像模式还可配置偏振片或滤光片构成全偏振或多光谱成像,在天空偏振光导航、无人机紧急避障、弹载侦察、近程引信以及水下无人潜航器导航等领域具有广泛的应用前景。     

绕月探测工程国际联网系统监控方式的探索与实现

探讨了绕月探测工程中北京航天飞行控制中心国际联网系统的监控方式，提出几种实时系统的监控方式并予以实现。同时结合实时代理（Agent）的体系结构，实现了通过UDP网络包及共享文件内存方法对SLE用户端的远程监控。     

GNSS global real-time augmentation positioning: Real-time precise satellite clock estimation,prototype system construction and performance analysis

Lots of ambiguities in un-differenced (UD) model lead to lower calculation efficiency, which isn’t appropriate for the high-frequency real-time GNSS clock estimation, like 1 Hz. Mixed differenced model fusing UD pseudo-range and epoch-differenced (ED) phase observations has been introduced into real-time clock estimation. In this contribution, we extend the mixed differenced model for realizing multi-GNSS real-time clock high-frequency updating and a rigorous comparison and analysis on same conditions are performed to achieve the best real-time clock estimation performance taking the efficiency, accuracy, consistency and reliability into consideration. Based on the multi-GNSS real-time data streams provided by multi-GNSS Experiment (MGEX) and Wuhan University, GPS + BeiDou + Galileo global real-time augmentation positioning prototype system is designed and constructed, including real-time precise orbit determination, real-time precise clock estimation, real-time Precise Point Positioning (RT-PPP) and real-time Standard Point Positioning (RT-SPP). The statistical analysis of the 6 h-predicted real-time orbits shows that the root mean square (RMS) in radial direction is about 1–5 cm for GPS, Beidou MEO and Galileo satellites and about 10 cm for Beidou GEO and IGSO satellites. Using the mixed differenced estimation model, the prototype system can realize high-efficient real-time satellite absolute clock estimation with no constant clock-bias and can be used for high-frequency augmentation message updating (such as 1 Hz). The real-time augmentation message signal-in-space ranging error (SISRE), a comprehensive accuracy of orbit and clock and effecting the users’ actual positioning performance, is introduced to evaluate and analyze the performance of GPS + BeiDou + Galileo global real-time augmentation positioning system. The statistical analysis of real-time augmentation message SISRE is about 4–7 cm for GPS, whlile 10 cm for Beidou IGSO/MEO, Galileo and about 30 cm for BeiDou GEO satellites. The real-time positioning results prove that the GPS + BeiDou + Galileo RT-PPP comparing to GPS-only can effectively accelerate convergence time by about 60%, improve the positioning accuracy by about 30% and obtain averaged RMS 4 cm in horizontal and 6 cm in vertical; additionally RT-SPP accuracy in the prototype system can realize positioning accuracy with about averaged RMS 1 m in horizontal and 1.5–2 m in vertical, which are improved by 60% and 70% to SPP based on broadcast ephemeris, respectively.     

数字化焊接车间的结构和功能设计

数字化焊接车间将是未来几年焊接工厂建设的发展方向,在保证产品质量稳定性、生产管理高效性、生产故障的可追溯性等方面展现出重要的作用。结合艾美特公司多年数字化焊接系统的设计与制造经验,以及为多个大客户提供数字化车间建设服务的经历,阐述数字化焊接车间在现代生产加工中的重要作用,并分享艾美特公司数字化焊接车间的技术基础和结构模型。     

基于半参数建模的弹道目标实时滤波

设计弹道目标的实时跟踪滤波器时,精确的动态建模和测量系统误差自校准是提高滤波精度的重要手段。基于补偿最小二乘原理和Tikhonov正则化定理,将难于参数化的复杂运动成分和测量系统误差表示为非参数分量,建立了基于半参数化建模的弹道递推模型和实时滤波算法,并详细设计了半参数建模时所需的光滑因子、正则化矩阵和窗口宽度等建模参数的在线选取方法。仿真实验和实际数据的计算结果表明,非参数成分可以有效地补偿状态模型误差,且可在线校准测量系统误差,显著改善弹道估计精度。算法已初步应用于实际飞行任务,其中的递推建模方法和参数选择策略对其它实时滤波器的设计同样有参考价值。     

高浓度颗粒流冲刷条件下硅橡胶和EPDM绝热材料动态烧蚀实验

利用X射线实时诊断技术(RTR)针对硅橡胶和EPDM绝热材料,开展了高浓度颗粒流冲刷条件下动态烧蚀实验研究,成功获得了绝热材料烧蚀表面退移过程的序列图像。研究表明:(1)在本实验条件下,硅橡胶绝热材料颗粒冲刷区域的瞬时烧蚀率在0～2s内迅速增加,2s之后瞬时烧蚀率略有下降并趋于稳定;EPDM绝热材料颗粒冲刷区域的瞬时烧蚀率在0～1s内迅速增加,1s之后瞬时烧蚀率趋于稳定;(2)相同冲刷条件下硅橡胶绝热材料抗颗粒流冲刷性能比EPDM绝热材料差,硅橡胶绝热材料不适合在高过载发动机中应用;(3)高浓度颗粒流冲刷条件下绝热材料的烧蚀率比常规条件下要严重的多,其机理主要是高温颗粒流对炭化层有强烈的机械剥蚀效应和热化学烧蚀作用。实验结果对硅橡胶和EPDM绝热材料烧蚀机理研究及烧蚀建模具有重要参考价值。